/dports/misc/dartsim/dart-6.11.1/dart/dynamics/ |
H A D | Frame.cpp | 140 const Eigen::Vector6d& Frame::getSpatialVelocity() const in getSpatialVelocity() function in dart::dynamics::Frame 159 Eigen::Vector6d Frame::getSpatialVelocity( in getSpatialVelocity() function in dart::dynamics::Frame 168 return getSpatialVelocity(); in getSpatialVelocity() 171 return math::AdR(getWorldTransform(), getSpatialVelocity()); in getSpatialVelocity() 176 const Eigen::Vector6d& result = (getSpatialVelocity() in getSpatialVelocity() 191 return getSpatialVelocity(_offset, Frame::World(), this); in getSpatialVelocity() 195 Eigen::Vector6d Frame::getSpatialVelocity( in getSpatialVelocity() function in dart::dynamics::Frame 203 Eigen::Vector6d v = getSpatialVelocity(); in getSpatialVelocity() 300 getSpatialVelocity(), in getSpatialAcceleration() 303 _relativeTo->getSpatialVelocity()))) in getSpatialAcceleration() [all …]
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H A D | FreeJoint.cpp | 262 getChildBodyNode()->getParentFrame()->getSpatialVelocity()); in setSpatialVelocity() 270 getChildBodyNode()->getParentFrame()->getSpatialVelocity()); in setSpatialVelocity() 273 relativeTo->getSpatialVelocity()); in setSpatialVelocity() 296 = getChildBodyNode()->getSpatialVelocity().head<3>(); in setLinearVelocity() 302 ->getSpatialVelocity(relativeTo, getChildBodyNode()) in setLinearVelocity() 343 = getChildBodyNode()->getSpatialVelocity().tail<3>(); in setAngularVelocity() 349 ->getSpatialVelocity(relativeTo, getChildBodyNode()) in setAngularVelocity() 423 getChildBodyNode()->getSpatialVelocity(), in setSpatialAcceleration() 435 getChildBodyNode()->getSpatialVelocity(), in setSpatialAcceleration() 442 getChildBodyNode()->getSpatialVelocity(), in setSpatialAcceleration() [all …]
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H A D | Frame.hpp | 108 const Eigen::Vector6d& getSpatialVelocity() const; 112 Eigen::Vector6d getSpatialVelocity( 117 Eigen::Vector6d getSpatialVelocity(const Eigen::Vector3d& _offset) const; 120 Eigen::Vector6d getSpatialVelocity(
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H A D | SimpleFrame.cpp | 125 = _otherFrame->getSpatialVelocity(_refFrame, Frame::World()); in copy() 273 = math::ad(getSpatialVelocity(), getRelativeSpatialVelocity()); in getPartialAcceleration()
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H A D | BodyNode.cpp | 636 return getSpatialVelocity(getLocalCOM()); in getCOMSpatialVelocity() 643 return getSpatialVelocity(getLocalCOM(), _relativeTo, _inCoordinatesOf); in getCOMSpatialVelocity() 1631 getSpatialVelocity(); in updateVelocity() 1640 mPartialAcceleration, getSpatialVelocity()); in updatePartialAcceleration() 1679 const Eigen::Vector6d& V = getSpatialVelocity(); in updateTransmittedForceID() 1739 const Eigen::Vector6d& V = getSpatialVelocity(); in updateBiasForce() 2002 const Eigen::Vector6d& V = getSpatialVelocity(); in computeKineticEnergy() 2024 return (mI * getSpatialVelocity()).tail<3>(); in getLinearMomentum() 2033 return math::dAdT(T, mI * getSpatialVelocity()).head<3>(); in getAngularMomentum() 2124 const Eigen::Vector6d& V = getSpatialVelocity(); in aggregateCombinedVector() [all …]
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H A D | PointMass.cpp | 742 const Eigen::Vector6d& v_parent = mParentSoftBodyNode->getSpatialVelocity(); in updateVelocity() 753 mEta = mParentSoftBodyNode->getSpatialVelocity().head<3>().cross(dq); in updatePartialAcceleration() 774 mF += mParentSoftBodyNode->getSpatialVelocity().head<3>().cross( in updateTransmittedForceID() 827 mB = mParentSoftBodyNode->getSpatialVelocity().head<3>().cross( in updateBiasForceFD()
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H A D | MetaSkeleton.cpp | 1059 const Eigen::Vector6d V = _relativeTo->getSpatialVelocity(_node, _relativeTo); in getJacobianSpatialDeriv() 1084 const Eigen::Vector6d V = _relativeTo->getSpatialVelocity(_node, _relativeTo); in getJacobianSpatialDeriv()
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H A D | SoftBodyNode.cpp | 617 const Eigen::Vector6d& V = getSpatialVelocity(); in updateTransmittedForceID() 735 const Eigen::Vector6d& V = getSpatialVelocity(); in updateBiasForce()
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/dports/misc/dartsim/dart-6.11.1/python/dartpy/dynamics/ |
H A D | Frame.cpp | 84 return self->getSpatialVelocity(); in Frame() 91 return self->getSpatialVelocity(relativeTo, inCoordinatesOf); in Frame() 98 -> Eigen::Vector6d { return self->getSpatialVelocity(offset); }, in Frame() 106 return self->getSpatialVelocity( in Frame()
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/dports/misc/dartsim/dart-6.11.1/unittests/comprehensive/ |
H A D | test_Frames.cpp | 219 Eigen::Vector6d v_actual = F->getSpatialVelocity(); in TEST() 334 Eigen::Vector6d v_rel = F->getSpatialVelocity(P, F); in TEST() 538 F->setRelativeSpatialVelocity(T->getSpatialVelocity(P, F)); in set_relative_values() 577 T->getSpatialVelocity(), F->getSpatialVelocity(), tolerance); in check_world_values() 615 T->getSpatialVelocity(relativeTo, inCoordinatesOf), in check_values() 616 F->getSpatialVelocity(relativeTo, inCoordinatesOf), in check_values()
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H A D | test_Dynamics.cpp | 308 Vector6d SpatialVelFk = bn->getSpatialVelocity(Frame::World(), refFrame); in compareBodyNodeFkToJacobian() 497 = bn->getSpatialVelocity(offset, Frame::World(), refFrame); in compareBodyNodeFkToJacobian() 706 Vector6d SpatialVelFk = bn->getSpatialVelocity(relativeTo, refFrame); in compareBodyNodeFkToJacobianRelative() 806 Vector6d SpatialVelFk = bn->getSpatialVelocity(_offset, relativeTo, refFrame); in compareBodyNodeFkToJacobianRelative() 1224 Vector6d V_actual = body->getSpatialVelocity(); in testFiniteDifferenceBodyNodeVelocity() 1482 bool checkV = equals(body->getSpatialVelocity(), Vmap[body]); in testForwardKinematicsSkeleton() 1502 std::cout << "actual V : " << body->getSpatialVelocity().transpose() in testForwardKinematicsSkeleton()
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H A D | test_Joints.cpp | 1479 actualVel = bodyNode1->getSpatialVelocity( in TEST_F() 1489 actualVel = bodyNode1->getSpatialVelocity(relativeTo, inCoordinatesOf); in TEST_F() 1570 actualVel = bodyNode1->getSpatialVelocity(relativeTo, inCoordinatesOf); in TEST_F()
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/dports/misc/dartsim/dart-6.11.1/python/tests/unit/dynamics/ |
H A D | test_body_node.py | 20 np.array(body.getSpatialVelocity()), np.zeros(6)) is True
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/dports/misc/dartsim/dart-6.11.1/dart/constraint/ |
H A D | WeldJointConstraint.cpp | 187 Eigen::Vector6d negativeVel = -mBodyNode1->getSpatialVelocity(); in getInformation() 189 negativeVel += mJacobian2 * mBodyNode2->getSpatialVelocity(); in getInformation()
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H A D | BallJointConstraint.cpp | 164 Eigen::Vector3d negativeVel = -mJacobian1 * mBodyNode1->getSpatialVelocity(); in getInformation() 166 negativeVel += mJacobian2 * mBodyNode2->getSpatialVelocity(); in getInformation()
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H A D | ContactConstraint.cpp | 745 relVelMap -= mSpatialNormalA.transpose() * mBodyNodeA->getSpatialVelocity(); in getRelVelocity() 746 relVelMap -= mSpatialNormalB.transpose() * mBodyNodeB->getSpatialVelocity(); in getRelVelocity()
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H A D | SoftContactConstraint.cpp | 926 _vel[i] -= mJacobians1[i].dot(mBodyNode1->getSpatialVelocity()); in getRelVelocity() 931 _vel[i] -= mJacobians2[i].dot(mBodyNode2->getSpatialVelocity()); in getRelVelocity()
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/dports/misc/dartsim/dart-6.11.1/examples/speed_test/ |
H A D | main.cpp | 72 skel->getBodyNode(i)->getSpatialVelocity(); in testForwardKinematicSpeed()
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/dports/misc/dartsim/dart-6.11.1/tutorials/tutorial_dominoes_finished/ |
H A D | main.cpp | 163 Eigen::Vector6d de = -mEndEffector->getSpatialVelocity( in setOperationalSpaceForces()
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/dports/misc/dartsim/dart-6.11.1/tutorials/tutorial_collisions_finished/ |
H A D | main.cpp | 269 object->getJoint(0)->setVelocities(ref.getSpatialVelocity()); in addObject()
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/dports/graphics/magnum-examples/magnum-examples-2019.10/src/dart/ |
H A D | DartExample.cpp | 558 …currentWorldSpatialVelocity = _model->getBodyNode("iiwa_link_ee")->getSpatialVelocity(dart::dynami… in updateManipulator()
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/dports/misc/dartsim/dart-6.11.1/docs/readthedocs/tutorials/ |
H A D | dominoes.md | 492 Eigen::Vector6d de = -mEndEffector->getSpatialVelocity(
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H A D | biped.md | 308 | getSpatialVelocity | Return the spatial velocity of this BodyNode in the coordinates of the B…
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H A D | collisions.md | 710 object->getJoint(0)->setVelocities(ref.getSpatialVelocity());
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